Speedup _contrib_index_copy

[haojin2]

Description

Re-writing the Map kernel of contrib.index_copy to speed up index_copy operator for DGL usage.
Plus a small fix to operator registration to fix problem with symbolic API.

Checklist

Essentials

Please feel free to remove inapplicable items for your PR.

• The PR title starts with [MXNET-$JIRA_ID], where $JIRA_ID refers to the relevant JIRA issue created (except PRs with tiny changes)
• Changes are complete (i.e. I finished coding on this PR)
• All changes have test coverage:
• Unit tests are added for small changes to verify correctness (e.g. adding a new operator)
• Nightly tests are added for complicated/long-running ones (e.g. changing distributed kvstore)
• Build tests will be added for build configuration changes (e.g. adding a new build option with NCCL)
• Code is well-documented:
• For user-facing API changes, API doc string has been updated.
• For new C++ functions in header files, their functionalities and arguments are documented.
• For new examples, README.md is added to explain the what the example does, the source of the dataset, expected performance on test set and reference to the original paper if applicable
• Check the API doc at http://mxnet-ci-doc.s3-accelerate.dualstack.amazonaws.com/PR-$PR_ID/$BUILD_ID/index.html
• To the my best knowledge, examples are either not affected by this change, or have been fixed to be compatible with this change

Changes

• Custom CPU kernel for best performance on CPU
• Custom GPU kernel for best performance on GPU

Comments

benchmark results:
CPU

• forward only (ms): 26.154723167419434->25.8462176322937 ~1x speedup
• forward+backward (ms): 63094.7536945343->79.10973119735718 ~800x speedup
  GPU:
• forward only (ms): 52.20915079116821->4.262630462646484 ~12.25x speedup
• forward+backward (ms): 36445.19102573395->14.284788131713867 ~2551x speedup

import mxnet as mx

# uncomment line to use corresponding ctx
# ctx = mx.cpu()
# ctx = mx.gpu(0)

orig_row = 40000
new_row = 20000
col = 512

import random

indices = [i for i in range(orig_row)]
random.shuffle(indices)
indices = mx.nd.array(indices[0:new_row], ctx=ctx, dtype='int32')

from mxnet.test_utils import check_speed, rand_ndarray

mx_orig = rand_ndarray((orig_row, col)).as_in_context(ctx)
mx_new = rand_ndarray((new_row, col)).as_in_context(ctx)

orig = mx.sym.Variable("orig")
idx = mx.sym.Variable("idx")
new = mx.sym.Variable("new")
mx_sym = mx.sym.contrib.index_copy(old_tensor=orig, index_vector=idx, new_tensor=new)

print(check_speed(mx_sym, typ='forward', location={"orig": mx_orig, "idx": indices, "new": mx_new}, ctx=ctx, N=1000) * 1000)
print(check_speed(mx_sym, typ='whole', location={"orig": mx_orig, "idx": indices, "new": mx_new}, ctx=ctx, N=10) * 1000)

[haojin2]

@zheng-da @szha @eric-haibin-lin Please review

[vandanavk]

@mxnet-label-bot add [Operator, pr-awaiting-review]

[wkcn]

Great! Thanks for your contribution!
I have some comments, the rest LGTM: )

[wkcn]

The old code supports OpReq, but it is cancelled in this PR.

[haojin2]

@wkcn I don't think ReqType really matters here, cause kAddTo for grad would hardly make any sense...

[wkcn]

So I think it is better to check whether OpReq is kWrite or kInplace.

[szha]

What if this op is used during training where gradient accumulation is used?

[haojin2]

@wkcn kWriteTo and kWriteInplace actually share the same code in KERNEL_ASSIGN: https://github.com/apache/incubator-mxnet/blob/master/src/operator/mxnet_op.h#L304-L319 so no need to distinguish between them, I'll add the kAddTo support as per @szha's request.

[wkcn]

@haojin2 Sorry that I forgot it. After adding the kAddTo, LGTM : )

[wkcn]

I think we should CHECK(req[0]==kWriteTo||req[0]==kInplace); in the forward function.

[wkcn]

Thanks for your contribution!
Hope add CHECK(req[0]==kWriteTo||req[0]==kInplace); in the forward function.

[haojin2]

@szha @zheng-da Ready for merge I think.

[wkcn]

Great! I think it is ready to merge.
Thank you for your contribution!